#ifndef COARSEREGISTRATION_H
#define COARSEREGISTRATION_H
#include "dox.h"
#include <opencv2/opencv.hpp>
#include <pcl/features/fpfh_omp.h>
#include <pcl/point_cloud.h>
#include <pcl/point_traits.h>
#include <pcl/registration/correspondence_rejection_sample_consensus.h>
#include <pcl/registration/ia_ransac.h>
#include <pcl/registration/transformation_estimation_svd.h>
class CoraseRegistration {
public:
  CoraseRegistration();
  ~CoraseRegistration();
  void GenerateDescriptor();
  void MatchFpfhDescriptor();
  void Init(Dox *dox);

private:
  Dox *dox_;

private:
};
#endif